SYSTEMS AND DEVICES INCLUDING A SURGICAL NAVIGATION CAMERA WITH A KINEMATIC MOUNT AND A SURGICAL DRAPE WITH A KINEMATIC MOUNT ADAPTER
A non-sterile device such as, a sensor with a kinematic mount is provided, such that there is a positional relationship between an optical system within the sensor, and the kinematic mount. A sterile drape is provided to allow the introduction of non-sterile devices into the sterile surgical field. The sterile drape has a kinematic mount adapter with a sterile side and a non-sterile side, with a known positional relationship between both sides. The non-sterile side (internal to the drape) is configured to kinematically couple to the non-sterile device and the sterile side (external to the drape) is configured to kinematically couple to an object in the sterile field such that the position and orientation of the object with respect to the non-sterile device is known to a processing unit and can be used to calculate positional measurements.
1 . A sensor comprising:
an enclosure;
a first kinematic mount on an exterior end of the enclosure, the first kinematic mount configured to couple to a second kinematic mount on a tool; and
an optical system housed within the enclosure, wherein the optical system is in a known positional relationship to the first kinematic mount, and the optical system is configured to receive positional information in up to six degrees of freedom from a target to provide surgical navigation.
2 . The sensor of claim 1 configured to be enclosed in a sterile drape comprising a kinematic mount adapter with a sterile side and a non-sterile side wherein the first kinematic mount of the sensor is coupled to the non-sterile side of the kinematic mount adapter.
3 . The sensor of claim 1 wherein the sensor further comprises positional sensing components wherein the positional sensing components are in another known positional relationship to the optical system.
4 . A sterile drape comprising:
a kinematic mount adapter with a sterile side and a non-sterile side;
the non-sterile side configured to couple to a first kinematic mount of a non-sterile device;
the sterile side and the non-sterile side of the kinematic mount adapter are in a known positional relationship; and
the sterile side configured to couple to a second kinematic mount across a sterile barrier.
5 . The sterile drape of claim 4 further comprising an opening configured to receive a non-sterile device within the sterile drape.
6 . The sterile drape of claim 4 further comprising an optically transparent window.
7 . The sterile drape of claim 4 wherein the sterile side of the kinematic mount adapter is configured to couple to a second kinematic mount of an object wherein the object and the second kinematic mount are in another known positional relationship.
8 . The sterile drape of claim 4 wherein the non-sterile device is an optical system configured to capture the position and orientation of a target within a surgical sterile field.
9 . The sterile drape of claim 4 wherein the kinematic mount adapter is located proximate the optically transparent window.
10 . The sterile drape of claim 4 wherein a kinematic connection formed with the sterile side of the kinematic mount adapter is stronger than a second kinematic connection formed with the non-sterile side of the kinematic mount adapter.
11 . The sterile drape of claim 4 wherein a kinematic connection formed with the non-sterile side of the kinematic mount adapter is stronger than a second kinematic connection formed with the sterile side of the kinematic mount adapter.
12 . A system comprising:
a sensor comprising an optical system and a first kinematic mount, wherein a first positional relationship exists between the first kinematic mount and the optical system, and wherein the optical system is configured to generate optical measurements,
a tool with a second kinematic mount kinematically coupled to the sensor, wherein a second positional relationship exists between the second kinematic mount and an effector of the tool;
a target configured to provide positional signals in up to six degrees of freedom to the optical system, the optical system generating the optical measurements using the positional signals; and
an intra-operative computing unit in communication with the sensor, the intra-operative computing unit configured to:
process optical measurements from the optical system to determine a position and orientation of the target in up to six degrees of freedom with respect to the optical system; and
calculate the position and orientation of the effector of the tool with respect to the target using the first positional relationship, the second positional relationship and the position and orientation of the target.
13 . The system of claim 12 wherein the sensor is enclosed in a sterile drape comprising a kinematic mount adapter with a sterile side and a non-sterile side wherein the first kinematic mount of the sensor is kinematically coupled to the non-sterile side of the kinematic mount adapter.
14 . The system of claim 13 wherein the sterile side of the kinematic mount adapter on the sterile drape is kinematically coupled to the second kinematic mount of the tool.
15 . The system of claim 14 wherein the tool is one of a probe, broach, a calibration instrument, an actuated instrument, and an end effector of a robotic surgical system.